effector_spline.h File Reference
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Namespaces

 curves
 
 curves::helpers
 

Typedefs

typedef double curves::helpers::Numeric
 
typedef double curves::helpers::Time
 
typedef Eigen::Matrix< Numeric, Eigen::Dynamic, 1 > curves::helpers::Point
 
typedef std::vector< Point, Eigen::aligned_allocator< Point > > curves::helpers::T_Point
 
typedef std::pair< double, Point > curves::helpers::Waypoint
 
typedef std::vector< Waypoint > curves::helpers::T_Waypoint
 
typedef exact_cubic< Time, Numeric, true, Point, T_Point > curves::helpers::exact_cubic_t
 
typedef exact_cubic_t::spline_constraints curves::helpers::spline_constraints_t
 
typedef exact_cubic_t::t_spline_t curves::helpers::t_spline_t
 
typedef exact_cubic_t::spline_t curves::helpers::spline_t
 

Functions

Waypoint curves::helpers::compute_offset (const Waypoint &source, const Point &normal, const Numeric offset, const Time time_offset)
 Compute time such that the equation from source to offsetpoint is necessarily a line. More...
 
spline_t curves::helpers::make_end_spline (const Point &normal, const Point &from, const Numeric offset, const Time init_time, const Time time_offset)
 Compute spline from land way point to end point. More...
 
spline_constraints_t curves::helpers::compute_required_offset_velocity_acceleration (const spline_t &end_spline, const Time)
 Compute end velocity : along landing normal and respecting time. More...
 
template<typename In >
exact_cubic_t * curves::helpers::effector_spline (In wayPointsBegin, In wayPointsEnd, const Point &lift_normal=Eigen::Vector3d::UnitZ(), const Point &land_normal=Eigen::Vector3d::UnitZ(), const Numeric lift_offset=0.02, const Numeric land_offset=0.02, const Time lift_offset_duration=0.02, const Time land_offset_duration=0.02)
 Helper method to create a spline typically used to guide the 3d trajectory of a robot end effector. More...